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REFAC: Various fixes

Andrew Wilson requested to merge andrew.wilson/iMSTK:VariousFixes into master
  • Assorted little things
  • Default/expected PbdObjectCollision should have no friction, accidently set it to 0.1.
  • SceneObject can be unnamed & Scene can produce a unique name as many spots in code would be unable to produce a unique one easily.
Edited by Andrew Wilson

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